SU1268398A1

SU1268398A1 - Working member of manipulator

Info

Publication number: SU1268398A1
Application number: SU853908998A
Authority: SU
Inventors: Владимир Дмитриевич Даровских
Original assignee: Фрунзенский политехнический институт
Priority date: 1985-06-11
Filing date: 1985-06-11
Publication date: 1986-11-07

Abstract

Изобретение относитс к области робототехники , преимущественно к системам позиционировани исполнительного органа манипул тора. Целью изобретени вл етс повышение точности позиционировани схвата манипул тора. По команде из системы управлени бесштокова полость цилиндра 1 сообщаетс с источником высокого давлени и щток 2 движетс слева направо. Дл остановки его в заданной точке отключаетс бесщтокова полость цилиндра I и подаетс питание на катущки электромагнитов фиксаторов 15, 22 и 23. При этом направл ющий элемент 4 фиксируетс относительно корпуса цилиндра I, а кольца 9 и 12 расфиксируютс относительно штока 2. В процессе инерционного перемещени штока 2 происходит поворот зубчатого колеса 5, зацепленного с рейкой, жестко св занной с штоком. Колесо 5 без линейного перемещени перемещает рейку 6 в направлении, противоположном инерционному движению штока 2, совместно с рейкой движетс кольцо 12 и схват, жестко св занный с этим кольцом, компенсиру инерционное смещение штока 2. а S 4 ил. tsd Од 00 со ;о 00The invention relates to the field of robotics, mainly to the positioning systems of the actuator of the manipulator. The aim of the invention is to improve the positioning accuracy of the gripper arm. Upon command from the control system, the rodless cavity of the cylinder 1 communicates with the high pressure source and the pin 2 moves from left to right. To stop it at a given point, the brushless cavity of cylinder I is turned off and the electromagnet coils of clamps 15, 22 and 23 are powered. The guide element 4 is fixed relative to the cylinder body I, and the rings 9 and 12 are uncoupled relative to the rod 2. In the course of inertial movement the rod 2 rotates the gear wheel 5 engaged with the rail rigidly connected to the rod. The wheel 5 without linear movement moves the rod 6 in the direction opposite to the inertial movement of the rod 2, together with the rod moves the ring 12 and the gripper rigidly connected with this ring, compensating the inertial displacement of the rod 2. and S 4 sludge. tsd Od 00 with; about 00

Description

Изобретение относится к области робототехники, преимущественно к системам позиционирования исполнительного органа манипуляторов.The invention relates to the field of robotics, mainly to positioning systems of the executive body of the manipulators.

Целью изобретения является повышение точности позиционирования схвата за счет исключения влияния инерционности подвижных элементов привода.The aim of the invention is to improve the accuracy of positioning of the grip by eliminating the influence of inertia of the moving elements of the drive.

На фиг. 1 схематично изображен исполнительный орган манипулятора, общий вид; на фиг. 2 — сечение А-А на фиг. 1; на фиг. 3 — сечение Б-Б на фиг. 1; на фиг. 4 — вид В на фиг. 1.In FIG. 1 schematically shows the Executive body of the manipulator, General view; in FIG. 2 is a section AA in FIG. 1; in FIG. 3 is a section BB in FIG. 1; in FIG. 4 is a view B in FIG. 1.

Исполнительный орган содержит силовой цилиндр 1 со штоком 2. В корпусе цилиндра выполнено сквозное отверстие 3, где размещен направляющий элемент 4, на котором закреплено с возможностью вращения зубчатое колесо 5, зацепленное с зубчатой рейкой, которая закреплена на штоке 2 (не показана), и с зубчатой рейкой 6, смонтированной на направляющей 7. Рейка 6 посредством скобы 8 жестко связана с кольцом 9, установленным на штоке 2 с возможностью возвратно-поступательного перемещения. На кольце 9 жестко закреплен фланец 10, к которому крепится, например, схват 11.K направляющему элементу 4 жестко прикреплено кольцо 12, установленное на штоке 2 с возможностью продольного перемещения. В местах установки колец 9 и 12 на штоке выполнены кольцевые проточки 13 и 14. Ширина колец превышает ширину канавок. Направляющий элемент 4 взаимодействует также с фиксатором 15 электромеханического типа, жестко закрепленным на цилиндре 1.The actuating body comprises a power cylinder 1 with a rod 2. A through hole 3 is made in the cylinder body, where a guide element 4 is placed, on which a gear 5 is mounted rotatably, engaged with a gear rack, which is mounted on a rod 2 (not shown), and with a gear rack 6 mounted on the guide 7. The rail 6 by means of the bracket 8 is rigidly connected to the ring 9 mounted on the rod 2 with the possibility of reciprocating movement. A flange 10 is rigidly fixed on the ring 9, to which, for example, a tong 11.K is fastened to the guide element 4, a ring 12 is rigidly fixed, mounted on the rod 2 with the possibility of longitudinal movement. In the places of installation of rings 9 and 12, annular grooves 13 and 14 are made on the rod. The width of the rings exceeds the width of the grooves. The guide element 4 also interacts with the lock 15 electromechanical type, rigidly mounted on the cylinder 1.

Фиксатор 15 содержит расположенные коаксиально направляющему элементу 4 цангу 16, связанную с корпусом катушки 17, выполняющей роль статора, подвижный в осевом направлении якорь 18, катушку 19 электромагнита. Между цангой 16 и якорем 18 установлена пружина 20. Кроме того, якорь 18 своей наружной цилиндрической поверхностью базируется в стакане 21. Внутренняя поверхность цанги 16 выполнена с возможностью взаимодействия с наружной поверхностью направляющего элемента 4. На кольцах 9 и 12 закреплены фиксаторы 22 и 23. Они состоят из корпуса 24 катушки 25 электромагнита, стакана 26, внутри которого смонтированы якорь 27, статор 28 и опора 29 механизма возврата якоря 27. Механизм возврата, помимо опоры 29, жестко связанной с корпусом 24, содержит толкатель 30, установленный соосно фиксатору 22 или 23, один конец которого опирается на якорь 27, а второй — на пружину 31. Свободный конец пружины 31 воздействует на регулировочный винт 32, установленный в опоре 29. К якорю 27 посредством штифта 33 прикреплен палец 34, выполненный с возможностью взаимодействия с проточкой 13 или 14. Фикса торы 22 и 23 соответственно связаны с кольцами 9 и 12 посредством винтов 35.The latch 15 comprises a collet 16 located coaxially to the guide element 4, connected to the housing of the coil 17, which acts as a stator, an axially movable armature 18, an electromagnet coil 19. A spring 20 is installed between the collet 16 and the anchor 18. In addition, the anchor 18 is based on its outer cylindrical surface in the cup 21. The inner surface of the collet 16 is configured to interact with the outer surface of the guide element 4. The clamps 22 and 23 are fixed to the rings 9 and 12. They consist of a housing 24 of an electromagnet coil 25, a cup 26, inside of which an armature 27, a stator 28 and a support 29 of the armature return mechanism 27 are mounted. The return mechanism, in addition to the support 29, rigidly connected to the housing 24, includes a pusher 30 installed coaxially to the latch 22 or 23, one end of which rests on the armature 27 and the other on the spring 31. The free end of the spring 31 acts on the adjusting screw 32 installed in the support 29. A finger 34 is attached to the armature 27 by a pin 33 interaction with the groove 13 or 14. The fixators 22 and 23, respectively, are connected with the rings 9 and 12 by means of screws 35.

Исполнительный орган работает следующим образом.The executive body works as follows.

В исходном перед началом цикла состоянии катушка 19 цангового фиксатора 15, а также катушки 25 фиксаторов 22 и 23 обесточены. Направляющий элемент 4 расфиксирован и может свободно перемещаться в отверстии 3 корпуса цилиндра 1. Якорь 27 пружиной 31 отжат от статора 28, в результате чего палец 34 каждого из фиксаторов 22 и 23 западает в кольцевые проточки 13 и 14 штока 2. При этом направляющий элемент 4, фланец 10 и рейка 6 жестко связаны со штоком 2.In the initial state before the start of the cycle, the coil 19 of the collet latch 15, as well as the coils 25 of the latches 22 and 23 are de-energized. The guide element 4 is unlocked and can freely move in the hole 3 of the cylinder body 1. The anchor 27 is pressed out of the stator 28 by the spring 31, as a result of which the finger 34 of each of the clamps 22 and 23 enters the annular grooves 13 and 14 of the rod 2. In this case, the guide element 4 , flange 10 and rail 6 are rigidly connected to the stem 2.

По команде из системы управления (не показана) бесштоковая полость цилиндра 1 соединяется с источником высокого давления. Шток 2 движется слева направо. При необходимости его останова в любой точке отключается подача энергии в бесштоковую полость и подается питание на катушки 19 и 25 электромагнитов фиксаторов 15, 22 и 23. У фиксатора 15 якорь 18 под действием электромагнитных сил движется на цангу 16, сжимая пружину 20, вдоль стакана 21. При воздействии внутреннего корпуса якоря 18 на наружный конус цанги 16 лепестки последней обжимают наружную поверхность направляющего элемента 4 и затормаживают ее. Одновременно с этим якорь 27, сжимая пружину 31, притягивается к статору 28, а палец 34 выходит из зоны взаимодействия с проточками 13 и 14. В этом случае обеспечивается свобода перемещения кольцам 9 и 12 в осевом относительно штока 2 направлении.On command from a control system (not shown), the rodless cavity of cylinder 1 is connected to a high pressure source. Stem 2 moves from left to right. If it is necessary to stop it at any point, the power supply to the rodless cavity is turned off and power is supplied to the coils 19 and 25 of the electromagnets of the clamps 15, 22 and 23. At the clamp 15, the armature 18 moves to the collet 16 under the action of electromagnetic forces, compressing the spring 20, along the cup 21 When exposed to the inner housing of the armature 18 on the outer cone of the collet 16, the petals of the latter compress the outer surface of the guide element 4 and brake it. At the same time, the anchor 27, compressing the spring 31, is attracted to the stator 28, and the finger 34 leaves the zone of interaction with the grooves 13 and 14. In this case, freedom of movement of the rings 9 and 12 in the axial direction relative to the rod 2 is ensured.

В процессе продолжающегося инерционного перемещения штока 2 происходит проворот зубчатого колеса 5, зацепленного с рейкой, закрепленной на штоке. При этом колесо 5 не имеет линейного смещения. Вращение с колеса 5 передается на рейку 6 и последняя линейно перемещается в направлении, противоположном инерционному движению штока 2, компенсируя это движение. Совместно с рейкой 6 относительно штока 2 движется кольцо 9 с фланцем 10 из-за наличия связи между ними, выполненной в виде скобы 8. Таким образом, инерционные свойства штока 2 не сказываются на точность позиционирования схвата манипулятора.In the process of continued inertial movement of the rod 2, the gear 5 is rotated, engaged with a rack mounted on the rod. In this case, the wheel 5 does not have a linear displacement. The rotation from the wheel 5 is transmitted to the rail 6 and the latter linearly moves in the opposite direction to the inertial motion of the rod 2, compensating for this movement. Together with the rail 6 relative to the rod 2, the ring 9 moves with the flange 10 due to the presence of a connection between them, made in the form of a bracket 8. Thus, the inertial properties of the rod 2 do not affect the accuracy of positioning of the grip of the manipulator.

При возвратном ходе вновь выполняются все подготовительные операции, и при разгоне штока 2 ведомые массы смещаются вдоль него и пальцы 34 западают в проточки 13 и 14.With the return stroke, all preparatory operations are again performed, and when the rod 2 is accelerated, the driven masses are displaced along it and the fingers 34 fall into the grooves 13 and 14.

Claims

The invention relates to the field of robotics, mainly to the positioning systems of the executive body of manipulators. The aim of the invention is to improve the accuracy of the gripper positioning by eliminating the inertia effect of the moving elements of the drive. FIG. 1 schematically shows the executive body of the manipulator, general view; in fig. 2 is a section A-A in FIG. one; in fig. 3 is a section BB in FIG. one; in fig. 4 is a view of B in FIG. 1. The actuator comprises a power cylinder 1 with a rod 2. A through hole 3 is made in the cylinder body, where a guide member 4 is placed, on which a gear wheel 5 meshed with a rack which is attached to the rod 2 (mounted ), and with the toothed rack 6 mounted on the guide 7. The rail 6 is rigidly connected by a bracket 8 with a ring 9 mounted on the brush 2 with the possibility of reciprocating movement. A flange 10 is rigidly fixed on the ring 9, to which, for example, a tong 11 is attached. A ring 12 mounted on the shaft 2 with the possibility of longitudinal movement is rigidly attached to the guide element 4. In the places of installation of the rings 9 and 12, annular grooves 13 and 14 are made on the brush. The width of the rings exceeds the width of the grooves. The guide element 4 also cooperates with the latch 15 of the electromechanical type rigidly mounted on the cylinder 1. The latch 15 comprises coaxial collet 18, which acts as a stator, axially movable bore 18, and coil located coaxially to the guide element 4 19 electromagnet. A spring 20 is installed between the collet 16 and the bark 18. In addition, the bark 18 is based on its outer cylindrical surface in the glass 21. The inner surface of the collet 16 is adapted to interact with the outer surface of the guide element 4. Relays 22 and 23 are fixed to the rings 9 and 12 They consist of a body 24 of a coil 25 of an electromagnet, a cup 26 inside which are mounted the measles 27, a stator 28 and a support 29 of the return gear box 27. The return mechanism, in addition to the support 29 rigidly connected to the housing 24, contains a pusher 30 installed coaxially to the retainer 22 or 23, one end of which rests on the bore 27 and the other on the spring 31. The free end of the spring 31 acts on the adjusting screw 32 installed in the support 29. The pin 34 is attached to the bore 27 by means of a pin 33 interactions with groove 13 or 14. Clamps 22 and 23, respectively, are associated with rings 9 and 12 by means of screws 35. The executive body works as follows. In the initial state before the start of the cycle, the pusher 19 of the collet lock 15, as well as the pins 25 of the clamps 22 and 23 are de-energized. The guide element 4 is unlocked and can freely move in the opening 3 of the cylinder body 1. The anchor 27 is pushed by the spring 31 from the stator 28, with the result that the finger 34 of each of the clamps 22 and 23 sinks into the annular grooves 13 and 14 of the rod 2. In this case the guide element 4, flange 10 and rail 6 are rigidly connected to the stem

2. Upon command from a control system (not shown), the rodless cavity of cylinder 1 is connected to a high pressure source. Stem 2 moves from left to right. If it is necessary to stop it at any point, the power supply to the rodless cavity is turned off and power is supplied to the droplets 19 and 25 of the electromagnets of the clamps 15, 22 and 23. At the latch 15, the measles 18, under the action of electromagnetic forces, move to the collet 16, compressing the spring 20, along the cup 21 When the inner housing of the core 18 is exposed to the outer cone of the collet 16, the petals of the latter clamp the outer surface of the guide element 4 and brake it. At the same time, the bark 27, compressing the spring 31, is attracted to the stator 28, and the finger 34 leaves the zone of interaction with the grooves 13 and 14. In this case, the movement of the rings 9 and 12 is axially relative to the rod 2. In the process of continuing inertial movement of the rod 2, the gear wheel 5 engaged with the rail mounted on the rod rotates. In this case, the wheel 5 does not have a linear displacement. The rotation from the wheel 5 is transmitted to the rail 6 and the latter moves linearly in the direction opposite to the inertial movement of the rod 2, compensating for this movement. Together with the rail 6 with respect to the stem 2, the ring 9 moves with the flange 10 due to the presence of a connection between them, made in the form of a clamp 8. Thus, the inertial properties of the stem 2 do not affect the positioning accuracy of the manipulator tong. During the return stroke, all preparatory operations are performed again, and when the stem 2 is accelerated, the driven masses are displaced along it and the fingers 34 sink into the grooves 13 and 14. The invention The actuator actuator, which contains the actuator cylinder, the stem of which is connected to the gripper, and the lock gripper position, characterized in that, in order to improve the gripper positioning accuracy, it is provided with a guiding element located in the cylinder body parallel to its axis, a gear wheel mounted at one end of the guiding element nta, two toothed racks meshed with the gear wheel and located on both sides of it, as well as two rings having clamps of the position of the rails and mounted on the stem with the possibility of longitudinal movement, one of which is rigidly connected with the gripper and one of the toothed racks, and the other with a guide element, wherein the other gear rack is made in conjunction with the brush, and the claw position lock is mounted on the cylinder body with the possibility of interaction with the guide element.

(Rig.2

-B

29

28

fPu.2.5

In Lid In

1fpLLZA